version: 66.13
glider: 401
mission: 22
dive: 251
start: 7 31 117 3 4 19
data:
$ID,401
$MISSION,22
$DIVE,251
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,22
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,400
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,310717,024047,5946.3350,-17117.0449,6,0.7,20,8.2,0.3,92.8,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.2
$GPS2,310717,024047,5946.3350,-17117.0449,6,0.7,20,8.2,0.3,92.8,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.336228,0.046970
$KALMAN_X,33444.953125,-1512.582031,-336.241364,-80411.468750,115.469330
$KALMAN_Y,11719.511719,2318.683350,703.666931,42707.726562,-43.613464
$MHEAD_RNG_PITCHd_Wd,269.8,9295,-11.3,-9.091,-14.99,6422
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.61,-389.9,2412,1908,2395,4092,0.0,0.0,0,18,5.88,0.00,-1.98,0.000,20482,0.028,0.000,1846,1908,2614,2614,4095,0,0,0,0,0,0,26.07,28.83,26.12,10.32,49.64
$GC,20,-1.61,-389.9,1846,1908,2614,4095,0.1,0.0,1,32,0.00,2.50,-3.12,0.000,16900,0.000,1.301,1846,1035,2959,2959,4094,0,0,0,0,0,0,26.27,24.96,26.28,10.38,50.35
$GC,122,-1.61,-389.9,1845,1035,2961,4094,9.3,-14.0,18,128,0.00,2.17,0.00,0.000,1030,0.000,0.031,1845,1910,2961,2961,4095,0,0,0,0,0,0,26.06,25.98,26.08,10.44,49.68
$GC,159,-1.61,-389.9,1845,1910,2962,4095,14.2,-13.1,24,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1910,2962,2962,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.45,49.37
$GC,195,-1.61,-389.9,1845,1910,2962,4095,18.5,-12.2,30,201,0.00,2.28,0.00,0.000,260,0.000,0.058,1846,2760,2962,2962,4095,0,0,0,0,0,0,26.30,25.98,26.31,10.44,49.33
$GC,250,-1.61,-389.9,1845,2760,2964,4095,24.6,-10.8,39,256,0.00,2.17,0.00,0.000,1030,0.000,0.031,1846,1901,2964,2964,4095,0,0,0,0,0,0,26.15,26.06,26.17,10.42,48.97
$GC,287,-1.61,-389.9,1845,1901,2965,4095,28.4,-9.7,45,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1901,2964,2964,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.39,48.89
$GC,323,-1.61,-389.9,1845,1901,2965,4094,31.8,-9.5,51,329,0.00,2.33,0.00,0.000,516,0.000,0.069,1846,1037,2965,2965,4095,0,0,0,0,0,0,26.38,26.03,26.39,10.38,47.67
$GC,366,-1.61,-389.9,1845,1037,2966,4095,36.3,-10.8,58,372,0.00,2.10,0.00,0.000,1030,0.000,0.030,1846,1895,2966,2966,4094,0,0,0,0,0,0,26.22,26.15,26.24,10.36,47.16
$GC,403,-1.61,-389.9,1845,1896,2966,4094,40.2,-10.3,64,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1896,2966,2966,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.35,46.96
$GC,439,-1.61,-389.9,1845,1896,2966,4095,44.0,-10.3,70,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1896,2967,2967,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.34,45.78
$GC,475,-1.61,-389.9,1845,1896,2968,4095,47.8,-10.5,76,480,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1896,2968,2968,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.34,45.58
$GC,511,-1.61,-389.9,1845,1896,2969,4094,52.1,-12.1,82,516,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1896,2969,2969,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.33,45.31
$GC,547,-1.61,-389.9,1845,1900,2970,4094,56.7,-12.5,88,553,0.00,2.28,0.00,0.000,260,0.000,0.058,1845,2760,2970,2970,4095,0,0,0,0,0,0,26.48,26.16,26.50,10.33,45.55
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,583,-0.45,0.0,1845,2018,2970,4094,60.1,-10.4,93,615,3.90,0.00,22.83,1.271,10244,0.057,0.000,2205,2018,2500,2500,4095,0,0,0,0,0,0,26.22,25.48,24.59,10.32,45.27
$STATE,616,end apogee,CONTROL_FINISHED_OK
$STATE,616,begin climb
$GC,617,1.61,389.9,2206,2018,2500,4095,61.9,0.0,99,651,6.95,0.00,22.58,1.245,11270,0.036,0.000,2861,2019,2045,2045,4094,0,0,0,0,0,0,25.70,25.85,24.14,10.22,45.07
$GC,682,1.61,389.9,2860,2018,2044,4094,56.9,10.9,110,688,0.00,2.40,0.00,0.000,260,0.000,0.057,2860,2879,2044,2044,4094,0,0,0,0,0,0,25.58,25.28,25.58,10.12,43.97
$GC,749,1.61,389.9,2860,2878,2042,4094,48.2,12.7,121,755,0.00,2.22,0.00,0.000,1030,0.000,0.030,2860,2021,2042,2042,4094,0,0,0,0,0,0,25.63,25.55,25.65,10.10,44.44
$GC,788,1.61,389.9,2860,2020,2041,4094,43.8,11.4,127,794,0.00,2.38,0.00,0.000,516,0.000,0.067,2861,1154,2041,2041,4094,0,0,0,0,0,0,25.89,25.56,25.90,10.11,44.80
$GC,848,1.61,389.9,2860,1154,2040,4094,36.3,11.8,137,854,0.00,2.10,0.00,0.000,1030,0.000,0.029,2860,1996,2040,2040,4094,0,0,0,0,0,0,25.82,25.76,25.84,10.10,44.84
$GC,885,1.61,389.9,2860,1995,2039,4094,32.2,11.1,143,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1996,2038,2038,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.09,45.31
$GC,921,1.61,389.9,2860,1995,2038,4094,28.1,11.9,149,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1996,2038,2038,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.11,45.27
$GC,957,1.61,389.9,2859,1995,2037,4094,24.0,12.0,155,963,0.00,2.33,0.00,0.000,516,0.000,0.067,2860,1150,2037,2037,4094,0,0,0,0,0,0,26.14,25.80,26.15,10.11,45.90
$GC,994,1.61,389.9,2860,1150,2036,4094,19.5,11.7,161,1000,0.00,2.05,0.00,0.000,1030,0.000,0.029,2861,1978,2036,2036,4093,0,0,0,0,0,0,26.00,25.94,26.02,10.12,46.22
$GC,1032,1.64,408.1,2860,1977,2035,4093,16.0,8.8,167,1038,0.00,0.00,2.42,0.180,8198,0.000,0.000,2861,1978,2022,2022,4094,0,0,0,0,0,0,26.21,25.83,25.20,10.15,47.04
$GC,1068,1.64,408.1,2860,1977,2022,4094,12.6,9.6,173,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1978,2022,2022,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.17,48.46
$GC,1104,1.64,408.1,2860,1977,2021,4094,8.9,10.5,179,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1978,2021,2021,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.18,49.37
$GC,1141,1.64,408.1,2860,1978,2020,4094,5.1,10.7,185,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1979,2020,2020,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.20,49.44
$STATE,1175,end climb,FINISH_DEPTH_REACHED
$STATE,1175,begin subsurface finish
$FINISH1,1.7,1.025600,0
$GC,1181,0.00,0.0,2860,2028,2019,4094,1.7,9.0,191,1199,5.50,2.47,-3.95,0.000,20996,0.077,1.304,2371,1154,2506,2506,4094,0,0,0,0,0,0,26.02,24.96,26.07,10.20,50.03
$FINISH2,0.4
$STATE,1200,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1200,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,011843
$TT8_MAMPS,0.025466,0.072653
$HUMID,51.18
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.14,6.158
$10V_AH,10.52,7.846
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.225,34.000,47.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.451,351.173,141.610,290.724,38.705,33.426,353.691,0.000,289.496,0.000,0.542,0.000
$DEVICE_MAMPS,77.265,1303.560,1271.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330976
$DATA_FILE_SIZE,14266,194
$CAP_FILE_SIZE,35455,0
$CFSIZE,1024409600,1007157248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,024047,5946.335,-17117.045,6,0.7,20,8.2,0.3,92.8,11,5.0